CN113612967A - Monitoring area camera ad hoc network system - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
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- H04Q2209/30—Arrangements in telecontrol or telemetry systems using a wired architecture
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Abstract
The invention discloses a monitoring area camera ad hoc network system, which belongs to the technical field of ad hoc network systems and comprises a first Ethernet gateway, a camera device, a second Ethernet gateway, a camera position adjusting device, a field bus gateway, a camera position detecting device, a control terminal connector, a control terminal and a central gateway. According to the invention, the levelness and the position of the monitoring camera can be preliminarily judged through the arranged camera device, and when the preliminary judgment result is contrary to the detection results of the levelness sensor and the position sensor, an operator is reminded to calibrate the levelness sensor, the position sensor or the position of the monitoring camera, so that the accuracy of monitoring the levelness and the position of the monitoring camera is improved, and the normal operation of monitored equipment is ensured; and the levelness and the position of the monitoring camera can be fed back and adjusted in time, a simple and reasonable ad hoc network system is formed, data transmission is rapid, and the complexity of system design is reduced.
Description
Technical Field
The invention relates to the technical field of ad hoc network systems, in particular to a monitoring area camera ad hoc network system.
Background
The self-organizing network is a network combining mobile communication and computer network, the information exchange of the network adopts the packet exchange mechanism in the computer network, the user terminal is a portable terminal which can be moved, and each user terminal in the self-organizing network has two functions of router and host. As a host, the terminal needs to run various user-oriented applications, such as an editor, a browser, and the like; as a router, a terminal needs to run a corresponding routing protocol, and completes forwarding of data packets and route maintenance work according to a routing policy and a routing table, so that a node is required to implement a proper routing protocol. The purpose of the ad hoc network routing protocol is fast, accurate and efficient, accurate and available routing information needs to be found in as short a time as possible, the ad hoc network routing protocol can adapt to the fast change of the network topology, the introduced extra time delay and the control information for maintaining the routing are reduced, and the overhead of the routing protocol is reduced, so that the limitations in the aspects of the computing capacity, the storage space, the power supply and the like of the mobile terminal are met.
When monitoring operation is carried out on a fixed monitoring area, for some application scenes with higher requirements, for example, in the operation state monitoring of some precision equipment, a plurality of cameras are often required to be arranged from a plurality of angles to carry out real-time monitoring on the equipment, the picture range acquired by each camera has strict requirements, namely, the position of the camera has strict requirements, because if part of components of the monitored precision equipment is not in the monitoring picture range, the judgment error of the operation state is likely to occur, so that the misjudgment of the operation state of the equipment occurs, and the normal operation of subsequent equipment is influenced, therefore, the camera ad hoc network system for the monitoring area is provided.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to solve the above-mentioned problem that exists when monitoring of current system of monitoring fixed surveillance area, provide a surveillance area camera head ad hoc network system.
The invention solves the technical problem through the following technical scheme, and the invention comprises a first Ethernet gateway, a camera device, a second Ethernet gateway, a camera position adjusting device, a field bus gateway, a camera position detecting device, a control terminal connector, a control terminal and a central gateway;
the camera device comprises monitoring cameras and monitoring data processors which are arranged at the front, the back, the left and the right of the monitored equipment, and the monitoring cameras and the monitoring data processors are in communication connection with the central gateway through the first Ethernet gateway;
the camera position detection device comprises a levelness sensor and a position sensor which are arranged on the monitoring camera, and the levelness sensor and the position sensor are in communication connection with the central gateway through the field bus gateway;
the camera position adjusting device comprises adjusting equipment and an adjusting quantity feedback sensor, wherein the adjusting equipment and the adjusting quantity feedback sensor are used for adjusting the levelness and the position of the monitoring camera, and are in communication connection with the central gateway through the second Ethernet gateway;
and the control terminal is in communication connection with the central gateway through the control terminal connector.
Furthermore, the monitoring cameras are used for monitoring the monitored equipment in the centers of the four monitoring cameras in real time from four angles, transmitting monitoring image data to the monitoring data processor for processing, and sending the processed monitoring image data to the central gateway through the first Ethernet gateway.
Furthermore, the levelness sensor is installed on the upper end face or the lower end face of the monitoring camera, converts levelness analog data of the monitoring camera into digital data, and then transmits the levelness digital data to the field bus gateway.
Furthermore, the position sensor adopts an infrared laser range finder, the laser range finder comprises a laser emitting head and a reflecting plate, the laser emitting head is arranged on the upper end face or the lower end face of the monitoring camera, the reflecting plate is arranged on a designated plane above or below the monitoring camera, and the laser emitting head acquires the position analog data of the reflecting plate in real time, converts the position analog data into digital data and transmits the position digital data to the field bus gateway.
Furthermore, the adjusting device comprises a levelness adjusting mechanism and a position adjusting mechanism, the levelness adjusting mechanism is used for adjusting the levelness of the monitoring camera, the position adjusting mechanism is used for adjusting the vertical height of the monitoring camera, and the adjustment quantity feedback sensor is used for measuring the adjustment quantity of the levelness adjusting mechanism and the position adjusting mechanism and transmitting the adjustment quantity data to the central gateway through the second Ethernet gateway.
Furthermore, the control terminal connector comprises a first mobile communication gateway, the control terminal connector is in communication connection with the control terminal or the central gateway through the first mobile communication gateway, a second mobile communication gateway is built in the control terminal, and the first mobile communication gateway is in communication connection with the second mobile communication gateway.
Furthermore, the monitoring area camera ad hoc network system further comprises a cloud control platform, and the control terminal connector is in communication connection with the cloud control platform.
Further, the specific processing procedure of the monitoring data processor is as follows:
s101: carrying out target identification on the monitored characteristics of the monitored equipment to obtain contour line information L of the monitored characteristics;
s102, acquiring two-dimensional coordinate information (x, y) of each feature point from the contour line information;
s103, calculating a distance value J1 from each feature point to the edge of the appointed current frame picture;
s104: and comparing the distance value J1 with the distance value Jd from each characteristic point in the corresponding picture template to the edge of the appointed current frame picture, acquiring the levelness and the position of the monitoring camera for preliminary judgment, and transmitting the preliminary judgment to a control terminal or a cloud control platform.
Furthermore, the process of adjusting the levelness and position of the camera by the ad hoc network system of the monitoring area is as follows:
s201: firstly, acquiring levelness numerical values and vertical height numerical values of each levelness sensor and each position sensor at the same time as a current frame picture;
s202: comparing the levelness value and the vertical height value obtained in the step S201 with the levelness value and the vertical height value of the set levelness sensor and the set position sensor to obtain the detection results of the levelness sensor and the set position sensor;
s203: jointly judge levelness sensor, position sensor's testing result and preliminary judgement result, when levelness sensor, position sensor's testing result and preliminary judgement result conform to, control adjusting device adjusts surveillance camera's levelness and position, when not conforming, then carries out the early warning to operating personnel, calibrates levelness sensor, position sensor or surveillance camera's position.
Compared with the prior art, the invention has the following advantages: the levelness and the position of the monitoring camera can be preliminarily judged through the arranged camera device, when the preliminary judgment result is contrary to the detection results of the levelness sensor and the position sensor, an operator is reminded to calibrate the levelness sensor, the position sensor or the position of the monitoring camera, the accuracy of monitoring the levelness and the position of the monitoring camera is improved, and the normal operation of monitored equipment is guaranteed; and can carry out feedback control to surveillance camera head levelness and position in time, form simple reasonable ad hoc network system, data transmission is rapid, has reduced system design complexity, is worth being generalized to use.
Drawings
Fig. 1 is a schematic structural diagram of a monitoring area camera ad hoc network system in an embodiment of the present invention;
fig. 2 is a plan view of an installation state of the image pickup apparatus and the monitored device in the embodiment of the present invention;
fig. 3 is a schematic diagram of a situation in which a monitored device is deflected in a monitoring screen in an embodiment of the present invention.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1 and 2, the present embodiment provides a technical solution: a monitoring area camera ad hoc network system comprises a first Ethernet gateway, a camera device, a second Ethernet gateway, a camera position adjusting device, a field bus gateway, a camera position detecting device, a control terminal connector, a control terminal and a central gateway.
In this embodiment, the first ethernet gateway and the camera device are in communication connection via an ethernet, and the camera device is configured to monitor the monitored equipment from multiple angles in real time and transmit monitoring picture data to the first ethernet gateway; more specifically, the camera device includes monitoring cameras and monitoring data processors, the monitoring cameras are installed on the front, back, left and right sides of the monitored equipment, the four monitoring cameras are in the same specification and are respectively installed on the front, back, left and right sides of the monitored equipment, the monitored equipment is located in the centers of the four monitoring cameras in a top view, the installation planes of the four monitoring cameras form a square in a top view, the distances from the lenses of the four monitoring cameras to the monitored equipment are the same, the monitored characteristics of the monitored equipment are guaranteed to be the same in the four monitoring pictures, the monitoring data processor is used for processing the monitoring picture data acquired by each monitoring camera, performing primary judgment on the levelness and the position of each monitoring camera, and further playing a role in auxiliary judgment on the camera position detection results acquired by the subsequent camera position detection device, and after the monitoring data processor processes the monitoring picture data, sending the data to the first Ethernet gateway. The monitoring cameras and the monitoring data processors which are arranged at the front, back, left and right of the monitored equipment are in communication connection with the central gateway through the first Ethernet gateway, and transmit monitoring picture data to the central gateway.
In this embodiment, the monitoring frame data and the primary judgment data of the monitoring data processor are recorded as the first type data.
In this embodiment, the camera position detection device includes four levelness sensors and four position sensors, where the four levelness sensors are respectively installed at specified positions on each monitoring camera and are used for detecting levelness values of each monitoring camera in real time, the number of the position sensors is also four, and the four position sensors are also respectively installed at specified positions on the monitoring cameras and are used for detecting vertical height values of each monitoring camera in real time; more specifically, the levelness sensor is a conventional levelness sensor, and is installed on an upper end surface or a lower end surface of the monitoring camera, and converts levelness analog data of the monitoring camera into digital data, and then transmits the levelness digital data to the fieldbus gateway, the position sensor employs an infrared laser range finder, the laser range finder includes a laser emitter and a reflector, the laser emitter is installed on the upper end surface or the lower end surface of the monitoring camera, the reflector is installed on a designated plane above or below the monitoring camera, it should be noted that, when the laser emitter is installed on the upper end surface of the monitoring camera, the reflector is installed on the designated plane above the monitoring camera, and each reflector corresponding to each monitoring camera is installed on the same designated plane, the laser emitter is arranged on the lower end face of the monitoring camera, the reflecting plates are arranged on a designated plane below the monitoring camera, the reflecting plates corresponding to the monitoring cameras are arranged on the same designated plane, the subsequent data comparison is also facilitated, and after the position analog data of the reflecting plates are collected in real time by the laser emitter (the reflecting plates are fixed, so that the position change is substantially the position change of the laser emitter, namely the position change of the monitoring camera), the position analog data are converted into digital data, and then the position digital data are transmitted to the field bus gateway. The levelness sensor and the position sensor are in communication connection with the central gateway through the field bus gateway, and transmit levelness digital data and position digital data to the central gateway.
In this embodiment, each of the monitoring cameras is installed on a corresponding vertical positioning shaft, and only the change of levelness and height is possible, and the horizontal position is not changed.
In this embodiment, the horizontal digital data and the position digital data are recorded as second-class data;
in this embodiment, camera position adjustment device includes adjusting device and regulating variable feedback sensor, adjusting device includes levelness adjustment mechanism and position adjustment mechanism, levelness adjustment mechanism is used for adjusting the levelness of surveillance camera head, position adjustment mechanism is used for the vertical height of regulation of surveillance camera head, regulating variable feedback sensor is used for measuring levelness adjustment mechanism and position adjustment mechanism's regulating variable to with regulating variable data through the second ethernet gateway transmission to in the central gateway, levelness adjustment mechanism and position adjustment mechanism all with second ethernet gateway communication connection.
In this embodiment, the adjustment amount data is denoted as a third type of data;
in this embodiment, the central gateway is respectively in communication connection with the first ethernet gateway, the second ethernet gateway, the fieldbus gateway, and the control terminal connector; the central gateway is used for receiving first-class data of the first Ethernet gateway, third-class data of the second Ethernet gateway and second-class data of the field bus gateway, performing message reframing on the first-class data, the second-class data and the third-class data according to a preset communication protocol and a data timestamp to obtain summarized data, sending the summarized data to the control terminal connector, receiving a first control instruction and a second control instruction forwarded by the control terminal connector, and sending the first control instruction and the second control instruction to the regulating equipment and the monitoring camera. More specifically, a protocol conversion chip is integrated in the central gateway, and the central gateway can perform conversion between an ethernet protocol, a field bus protocol and a mobile communication protocol.
In this embodiment, the control terminal connector includes a first mobile communication gateway, and the control terminal connector is in communication connection with an external control terminal through the first mobile communication gateway or in communication connection with the central gateway through the first mobile communication gateway. More specifically, the external control terminal is connected to the control terminal connector, the external control terminal includes a handheld mobile terminal, a tablet computer, and the like, a mobile communication chip needs to be embedded or installed in the external control terminal, a second mobile communication gateway is embedded in the external control terminal, and the first mobile communication gateway is in communication connection with the second mobile communication gateway.
In this embodiment, the control terminal connector is further in communication connection with a cloud control platform, the first control instruction and the second control instruction may be issued by the control terminal or the cloud control platform, and the specific issuing terminal is set according to actual application.
In this embodiment, the specific processing procedure of the monitoring data processor is as follows:
s101: carrying out target identification on the monitored characteristics of the monitored equipment to obtain contour line information L of the monitored characteristics;
s102, acquiring two-dimensional coordinate information (x, y) of each feature point from the contour line information;
s103, calculating a distance value J1 from each feature point to the edge of the appointed current frame picture;
s104: and comparing the distance value J1 with the distance value Jd from each characteristic point in the corresponding picture template to the edge of the appointed current frame picture, acquiring the levelness and the position of the monitoring camera for preliminary judgment, and transmitting the preliminary judgment to a control terminal or a cloud control platform. The preliminary judgment mainly plays a role in auxiliary judgment, and when the preliminary judgment result is contrary to the detection results of the levelness sensor and the position sensor, an operator is reminded to calibrate the positions of the levelness sensor, the position sensor or the monitoring camera.
As shown in fig. 3, in the present embodiment, as an example, the characteristic point of the monitored equipment is A, B, C, wherein A, B is the levelness determination point, C is the position (height) determination point, which is the geometric center point of the monitored equipment of the picture template, when the levelness of the monitoring camera is changed and the position is not changed, A, B is changed into A1 and B1 in the monitoring picture, and horizontal deflection occurs, at this time, the distance values from A1 and B1 to the left edge and the lower edge of the current frame picture are calculated to be line segments J1Ax, J1Bx, J1Ay and J1By respectively, according to the comparison between the lengths of the line segments J1Ax, J1Bx, J1Ay and J1By and the distance value Jd from the characteristic point A, B in the corresponding picture template to the edge of the corresponding current frame picture, the deflection direction of the monitored equipment in the monitoring picture, namely the levelness change direction of the corresponding monitoring camera can be obtained.
In this embodiment, the current frame picture is a four-angle monitoring picture obtained by four monitoring cameras at the same time, and the picture template is a standard monitoring picture obtained by the four monitoring cameras and corresponding to four angles of the monitored equipment in the current frame picture under the same operating state (that is, each feature point is in a correct position). The monitored equipment comprises three motion states, wherein the first motion state is a first position in a power-on state, the second motion state is a second position in the power-on state, and the third motion state is a power-off state.
In this embodiment, the process of adjusting the levelness and position of the camera is as follows:
s201: firstly, acquiring levelness numerical values and vertical height numerical values of each levelness sensor and each position sensor at the same time as a current frame picture;
s202: comparing the levelness value and the vertical height value obtained in the step S201 with the levelness value and the vertical height value of the set levelness sensor and the set position sensor to obtain the detection results of the levelness sensor and the set position sensor;
s203: jointly judge levelness sensor, position sensor's testing result and preliminary judgement result, when levelness sensor, position sensor's testing result and preliminary judgement result conform to, control adjusting device adjusts surveillance camera's levelness and position, when not conforming, then carries out the early warning to operating personnel, calibrates levelness sensor, position sensor or surveillance camera's position.
In summary, the ad hoc network system for the monitoring area camera in the embodiment can perform preliminary judgment on the levelness and the position of the monitoring camera through the arranged camera device, and when the preliminary judgment result is contradictory to the detection results of the levelness sensor and the position sensor, the system reminds the operator to calibrate the positions of the levelness sensor, the position sensor or the monitoring camera, so that the accuracy of monitoring the levelness and the position of the monitoring camera is improved, and the normal operation of the monitored equipment is ensured; and can carry out feedback control to surveillance camera head levelness and position in time, form simple reasonable ad hoc network system, data transmission is rapid, has reduced system design complexity, is worth being generalized to use.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. The utility model provides a surveillance area camera ad hoc network system which characterized in that: the system comprises a first Ethernet gateway, a camera device, a second Ethernet gateway, a camera position adjusting device, a field bus gateway, a camera position detecting device, a control terminal connector, a control terminal and a central gateway;
the camera device comprises monitoring cameras and monitoring data processors which are arranged at the front, the back, the left and the right of the monitored equipment, and the monitoring cameras and the monitoring data processors are in communication connection with the central gateway through the first Ethernet gateway;
the camera position detection device comprises a levelness sensor and a position sensor which are arranged on the monitoring camera, and the levelness sensor and the position sensor are in communication connection with the central gateway through the field bus gateway;
the camera position adjusting device comprises adjusting equipment and an adjusting quantity feedback sensor, wherein the adjusting equipment and the adjusting quantity feedback sensor are used for adjusting the levelness and the position of the monitoring camera, and are in communication connection with the central gateway through the second Ethernet gateway;
and the control terminal is in communication connection with the central gateway through the control terminal connector.
2. The ad hoc network system for monitoring area cameras according to claim 1, wherein: the monitoring cameras are used for monitoring the monitored equipment in the centers of the four monitoring cameras in real time from four angles, transmitting monitoring picture data to the monitoring data processor for processing, and sending the processed monitoring picture data to the central gateway through the first Ethernet gateway.
3. The ad hoc network system for monitoring area cameras according to claim 1, wherein: the levelness sensor is installed on the upper end face or the lower end face of the monitoring camera, converts levelness analog data of the monitoring camera into digital data, and then transmits the levelness digital data to the field bus gateway.
4. The ad hoc network system for monitoring area cameras according to claim 1, wherein: the position sensor adopts an infrared laser range finder, the laser range finder comprises a laser emitting head and a reflecting plate, the laser emitting head is arranged on the upper end face or the lower end face of the monitoring camera, the reflecting plate is arranged on a designated plane above or below the monitoring camera, and the laser emitting head acquires position analog data of the reflecting plate in real time, converts the position analog data into digital data and transmits the position digital data to the field bus gateway.
5. The ad hoc network system for monitoring area cameras according to claim 1, wherein: the adjusting device comprises a levelness adjusting mechanism and a position adjusting mechanism, the levelness adjusting mechanism is used for adjusting the levelness of the monitoring camera, the position adjusting mechanism is used for adjusting the vertical height of the monitoring camera, the adjusting quantity feedback sensor is used for measuring the adjusting quantity of the levelness adjusting mechanism and the position adjusting mechanism, and transmitting the adjusting quantity data to the central gateway through the second Ethernet gateway.
6. The ad hoc network system for monitoring area cameras according to claim 1, wherein: the control terminal connector comprises a first mobile communication gateway, the control terminal connector is in communication connection with a control terminal or the central gateway through the first mobile communication gateway, a second mobile communication gateway is arranged in the control terminal, and the first mobile communication gateway is in communication connection with the second mobile communication gateway.
7. The ad hoc network system for monitoring area cameras according to claim 1, wherein: the monitoring area camera ad hoc network system further comprises a cloud control platform, and the control terminal connector is in communication connection with the cloud control platform.
8. The ad hoc network system for monitoring area cameras according to claim 7, wherein: the specific processing procedure of the monitoring data processor is as follows:
s101: carrying out target identification on the monitored characteristics of the monitored equipment to obtain contour line information L of the monitored characteristics;
s102, acquiring two-dimensional coordinate information (x, y) of each feature point from the contour line information;
s103, calculating each distance value J1 from each feature point to the edge of the appointed current frame picture;
s104: and comparing each distance value J1 with each distance value Jd from each characteristic point in the corresponding picture template to the edge of the appointed current frame picture, acquiring the levelness and the position of the monitoring camera for preliminary judgment, and transmitting the preliminary judgment to a control terminal or a cloud control platform.
9. The ad hoc network system for monitoring area cameras according to claim 8, wherein: the current frame picture is a monitoring picture of four angles acquired by the four monitoring cameras at the same moment, and the picture template is a standard monitoring picture of four angles acquired by the four monitoring cameras and corresponding to the monitored equipment in the current frame picture under the same operation state.
10. The ad hoc network system for monitoring area cameras according to claim 9, wherein: the process of adjusting the levelness and the position of the camera by the ad hoc network system of the monitoring area is as follows:
s201: firstly, acquiring levelness numerical values and vertical height numerical values of each levelness sensor and each position sensor at the same time as a current frame picture;
s202: comparing the levelness value and the vertical height value obtained in the step S201 with the levelness value and the vertical height value of the set levelness sensor and the set position sensor to obtain the detection results of the levelness sensor and the set position sensor;
s203: jointly judge levelness sensor, position sensor's testing result and preliminary judgement result, when levelness sensor, position sensor's testing result and preliminary judgement result conform to, control adjusting device adjusts surveillance camera's levelness and position, when not conforming, then carries out the early warning to operating personnel, calibrates levelness sensor, position sensor or surveillance camera's position.
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| WO2016074169A1 (en) * | 2014-11-12 | 2016-05-19 | 深圳市大疆创新科技有限公司 | Target detecting method, detecting device, and robot |
| KR101738129B1 (en) * | 2017-01-18 | 2017-05-22 | 주식회사 엠제이비전테크 | Apparatus and method for recognizing automatic number plate on long distance image using one camera |
| CN211151991U (en) * | 2020-01-08 | 2020-07-31 | 广州汽车集团股份有限公司 | Ad hoc network system, vehicle, regional inter-vehicle network system and vehicle networking system |
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